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Support for addressing ICC communication in MC #431

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merged 16 commits into from
Oct 24, 2023
Merged

Support for addressing ICC communication in MC #431

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6493b6b
added
marcoaccame Apr 20, 2023
8724864
date changed
marcoaccame Apr 21, 2023
fc36380
added
marcoaccame Apr 20, 2023
42226aa
date changed
marcoaccame Apr 21, 2023
fc3ef34
added
marcoaccame Apr 20, 2023
8d75a04
date changed
marcoaccame Apr 21, 2023
64f2296
added
marcoaccame Apr 20, 2023
3bf4253
date changed
marcoaccame Apr 21, 2023
54e0346
used the namespace embot::app::eth::mc::messaging to send messages fr…
marcoaccame Aug 10, 2023
3d30d7b
fixed after tests. now the ems tx the correct messages in the correct…
marcoaccame Oct 10, 2023
d3cba60
removed old unused projects
marcoaccame Oct 11, 2023
ba50a00
amc, mc4puls, mc2plus: enabled compilation of the projects w/ the new…
marcoaccame Oct 11, 2023
e763442
removed debug actuation and enable the one from the PID
marcoaccame Oct 13, 2023
919bec3
support for icc communication: fixed projects, enabled the use of cur…
marcoaccame Oct 24, 2023
9848dd2
added stlink target
marcoaccame Oct 24, 2023
db241b4
updated projects and application versions
marcoaccame Oct 24, 2023
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13 changes: 2 additions & 11 deletions emBODY/eBcode/arch-arm/board/amc/application/v1/cfg/protocol/EoProtocolMC_fun_amc.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ extern void eoprot_fun_UPDT_mc_joint_config(const EOnv* nv, const eOropdescripto

if((eo_motcon_mode_foc == mcmode))
{
MController_config_joint(jxx, cfg, mcmode);
MController_config_joint(jxx, cfg);
}

}
Expand Down Expand Up @@ -264,7 +264,6 @@ extern void eoprot_fun_UPDT_mc_joint_cmmnds_setpoint(const EOnv* nv, const eOrop
case eomc_setpoint_velocity:
{
MController_set_joint_vel_ref(jxx, setpoint->to.velocity.value, setpoint->to.velocity.withacceleration);
//MController_set_joint_vel_raw(jxx, setpoint->to.velocity.value);
} break;

case eomc_setpoint_torque:
Expand Down Expand Up @@ -348,7 +347,7 @@ extern void eoprot_fun_UPDT_mc_joint_cmmnds_controlmode(const EOnv* nv, const eO

if((eo_motcon_mode_foc == mcmode))
{
MController_set_control_mode(jxx, (eOmc_controlmode_command_t)(*controlmode));
MController_set_control_mode(jxx, *controlmode);
}

}
Expand Down Expand Up @@ -471,7 +470,6 @@ extern void eoprot_fun_UPDT_mc_motor_config_currentlimits(const EOnv* nv, const
eOprotIndex_t mxx = eoprot_ID2index(rd->id32);

eOmc_current_limits_params_t *currentLimits = (eOmc_current_limits_params_t*)rd->data;
eOmeas_current_t curr = currentLimits->overloadCurrent;

eOmotioncontroller_mode_t mcmode = s_motorcontrol_getmode();

Expand All @@ -494,13 +492,6 @@ extern void eoprot_fun_UPDT_mc_motor_config_currentlimits(const EOnv* nv, const

if(eo_motcon_mode_foc == mcmode)
{
// send the can message to relevant board
eOcanprot_command_t command = {0};
command.clas = eocanprot_msgclass_pollingMotorControl;
command.type = ICUBCANPROTO_POL_MC_CMD__SET_CURRENT_LIMIT;
command.value = &curr;
eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);

MController_motor_config_max_currents(mxx, currentLimits);
}
}
Expand Down
4 changes: 2 additions & 2 deletions emBODY/eBcode/arch-arm/board/amc/application/v1/cfg/theApplication_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ namespace embot { namespace app { namespace eth {
.property =
{
Process::eApplication,
{1, 2},
{2023, Month::Oct, Day::twentytwo, 10, 00}
{1, 3},
{2023, Month::Oct, Day::twentyfour, 15, 21}
},
.OStick = 1000*embot::core::time1microsec,
.OSstacksizeinit = 10*1024,
Expand Down
56 changes: 34 additions & 22 deletions emBODY/eBcode/arch-arm/board/amc/application/v1/proj/appl-01.uvoptx
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Original file line number Diff line number Diff line change
Expand Up @@ -236,7 +236,7 @@

<Group>
<GroupName>main</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
Expand All @@ -256,7 +256,7 @@

<Group>
<GroupName>embot::app::eth</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
Expand Down Expand Up @@ -372,7 +372,7 @@

<Group>
<GroupName>embot::app::eth::config</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
Expand Down Expand Up @@ -1076,7 +1076,7 @@

<Group>
<GroupName>embot::os::EOM</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
Expand Down Expand Up @@ -1944,7 +1944,7 @@

<Group>
<GroupName>eo-state-run</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
Expand Down Expand Up @@ -2264,7 +2264,7 @@

<Group>
<GroupName>embot::app::eth::theHandler</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
Expand Down Expand Up @@ -2328,7 +2328,7 @@

<Group>
<GroupName>embot::app::eth::theServiceMC</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
Expand Down Expand Up @@ -2356,6 +2356,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>33</GroupNumber>
<FileNumber>156</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\..\..\..\..\embot\app\eth\embot_app_eth_mc_messaging.cpp</PathWithFileName>
<FilenameWithoutPath>embot_app_eth_mc_messaging.cpp</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>

<Group>
Expand All @@ -2366,7 +2378,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>156</FileNumber>
<FileNumber>157</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2378,7 +2390,7 @@
</File>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>157</FileNumber>
<FileNumber>158</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2390,7 +2402,7 @@
</File>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>158</FileNumber>
<FileNumber>159</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2402,7 +2414,7 @@
</File>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>159</FileNumber>
<FileNumber>160</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2414,7 +2426,7 @@
</File>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>160</FileNumber>
<FileNumber>161</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2426,7 +2438,7 @@
</File>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>161</FileNumber>
<FileNumber>162</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2438,7 +2450,7 @@
</File>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>162</FileNumber>
<FileNumber>163</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2450,7 +2462,7 @@
</File>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>163</FileNumber>
<FileNumber>164</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2462,7 +2474,7 @@
</File>
<File>
<GroupNumber>34</GroupNumber>
<FileNumber>164</FileNumber>
<FileNumber>165</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2482,7 +2494,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>35</GroupNumber>
<FileNumber>165</FileNumber>
<FileNumber>166</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2494,7 +2506,7 @@
</File>
<File>
<GroupNumber>35</GroupNumber>
<FileNumber>166</FileNumber>
<FileNumber>167</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand All @@ -2514,7 +2526,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>36</GroupNumber>
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<FileType>8</FileType>
<tvExp>0</tvExp>
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Expand All @@ -2534,7 +2546,7 @@
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Expand All @@ -2554,7 +2566,7 @@
<RteFlg>0</RteFlg>
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<FileType>8</FileType>
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Expand All @@ -2566,7 +2578,7 @@
</File>
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<GroupNumber>38</GroupNumber>
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<FileNumber>171</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
Expand Down
5 changes: 5 additions & 0 deletions emBODY/eBcode/arch-arm/board/amc/application/v1/proj/appl-01.uvprojx
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Original file line number Diff line number Diff line change
Expand Up @@ -1458,6 +1458,11 @@
<FileType>8</FileType>
<FilePath>..\..\..\..\..\embot\app\eth\EOtheMCamc.cpp</FilePath>
</File>
<File>
<FileName>embot_app_eth_mc_messaging.cpp</FileName>
<FileType>8</FileType>
<FilePath>..\..\..\..\..\embot\app\eth\embot_app_eth_mc_messaging.cpp</FilePath>
</File>
</Files>
</Group>
<Group>
Expand Down
12 changes: 2 additions & 10 deletions emBODY/eBcode/arch-arm/board/amc/examples/appl-01/cfg/protocol/EoProtocolMC_fun_amc.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@ extern void eoprot_fun_UPDT_mc_joint_config(const EOnv* nv, const eOropdescripto

if((eo_motcon_mode_foc == mcmode))
{
MController_config_joint(jxx, cfg, mcmode);
MController_config_joint(jxx, cfg);
}

}
Expand Down Expand Up @@ -371,7 +371,7 @@ extern void eoprot_fun_UPDT_mc_joint_cmmnds_controlmode(const EOnv* nv, const eO

if((eo_motcon_mode_foc == mcmode))
{
MController_set_control_mode(jxx, (eOmc_controlmode_command_t)(*controlmode));
MController_set_control_mode(jxx, *controlmode);
}

}
Expand Down Expand Up @@ -494,7 +494,6 @@ extern void eoprot_fun_UPDT_mc_motor_config_currentlimits(const EOnv* nv, const
eOprotIndex_t mxx = eoprot_ID2index(rd->id32);

eOmc_current_limits_params_t *currentLimits = (eOmc_current_limits_params_t*)rd->data;
eOmeas_current_t curr = currentLimits->overloadCurrent;

eOmotioncontroller_mode_t mcmode = s_motorcontrol_getmode();

Expand All @@ -517,13 +516,6 @@ extern void eoprot_fun_UPDT_mc_motor_config_currentlimits(const EOnv* nv, const

if(eo_motcon_mode_foc == mcmode)
{
// send the can message to relevant board
eOcanprot_command_t command = {0};
command.clas = eocanprot_msgclass_pollingMotorControl;
command.type = ICUBCANPROTO_POL_MC_CMD__SET_CURRENT_LIMIT;
command.value = &curr;
eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);

MController_motor_config_max_currents(mxx, currentLimits);
}
}
Expand Down
8 changes: 4 additions & 4 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 76
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 77

// </h>version

Expand All @@ -91,11 +91,11 @@ extern "C" {
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 10
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 10
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 24
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 21
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 15
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 00
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 20
// </h>build date
// </h>Info

Expand Down
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